iso14229

iso14229是个针对嵌入式系统的UDS(ISO14229-1:2013)服务器和客户端实现。这一套已包含isotp-c ISO15765-2 (ISO-TP)传输层。

iso14229 is a UDS server and client implementation (ISO14229-1:2013) targeting embedded systems. It embeds the isotp-c ISO15765-2 (ISO-TP) transport layer.

API状态: 不稳定 / API status: unstable

特点:

• 依赖性注入
• 静态内存分配
• 独立于处理器架构
  • 测试了: arm, x86-64, ppc
  • 可以用qemu测试更多
• 单元测试又多又容易扩展

Features:

• dependency injection gives you complete control
• uses only static memory allocation
• architecture-independent
  • tested: arm, x86-64, ppc
  • tests run under qemu
• has many existing unit-tests and tests are easy to extend

支持服务(服务器和客户端) / supported functions (server and client )

SID	name	supported
0x10	diagnostic session control	✅
0x11	ECU reset	✅
0x14	clear diagnostic information	❌
0x19	read DTC information	❌
0x22	read data by identifier	✅
0x23	read memory by address	❌
0x24	read scaling data by identifier	❌
0x27	security access	✅
0x28	communication control	✅
0x2A	read periodic data by identifier	❌
0x2C	dynamically define data identifier	❌
0x2E	write data by identifier	✅
0x2F	input control by identifier	❌
0x31	routine control	✅
0x34	request download	✅
0x35	request upload	❌
0x36	transfer data	✅
0x37	request transfer exit	✅
0x38	request file transfer	❌
0x3D	write memory by address	❌
0x3E	tester present	✅
0x83	access timing parameter	❌
0x84	secured data transmission	❌
0x85	control DTC setting	✅
0x86	response on event	❌

iso14229 文档 / Documentation

例子 / Examples

examples/README.md

测试 / Tests

test_iso14229.c

运行测试 / running tests

make test

qemu

CC=powerpc-linux-gnu-gcc make test_bin
qemu-ppc -L /usr/powerpc-linux-gnu test_bin

wine

CC=x86_64-w64-mingw32-gcc make test_bin
wine test_bin.exe

贡献 / Contributing

欢迎提交贡献/contributions are welcome

感谢 / Acknowledgements

• isotp which this project embeds

许可 / License

MIT

变更记录 / Changelog

0.0.0

• 初次发布 / initial release

0.1.0

• 加客户端 / Add client
• 加服务器SID 0x27安全访问 / Add server SID 0x27 SecurityAccess
• API更改 / API changes

0.2.0

• 删除所有__attribute__((packed)) / removed all instances of __attribute__((packed))
• 为了简化测试、重构服务器下载功能单元 / refactored server download functional unit API to simplify testing
• 重构测试 / refactored tests
  • 按服务排列 / ordered by service
  • 给宏定义写文档 / documented macros
• 删掉了中间件 / removed middleware
• 简化了服务器例程控制API / simplified server routine control API
• 删掉了重复函数iso14229ServerEnableService / removed redundant function iso14229ServerEnableService
• 更新例子 / updated example

0.3.0

• 加iso14229ClientRunSequenceBlocking(...) / added iso14229ClientRunSequenceBlocking(...)
• 加了服务器和客户端例子 / added server and client examples
• 简化测试流程、删掉了过分模糊宏定义和switch结构 / simplified test flow, deleted opaque macros and switch statements
• 服务器和客户端结构体简化：尽量用一层深度 / flattened client and server main structs
• 简化使用、放isotp-c初始化参数到服务器/客户端配置里面 / simplified usage by moving isotp-c initialization parameters into server/client config structs
• 删除重复服务器缓冲器 / remove redundant buffers in server

---

iso14229开发文档 / design docs

客户端请求状态机

@startuml
title 客户端请求状态机
note as N1
enum {
    kNoError=0,
    kErrBadRequest,
    kErrP2Timeout,
} ClientErr;

static inline bool isRequestComplete() {return state==Idle;}

while (Idle != client->state) {
    receiveCAN(client);
    Iso14229ClientPoll(client);
}
end note

state Idle
state Sending
state Sent
state SentAwaitResponse
state ProcessResponse
Idle: if (ISOTP_RET_OK == isotp_receive(...)) // Error
ProcessResponse: isotp_receive()
ProcessResponse: _ClientValidateResponse(...)
ProcessResponse: _ClientHandleResponse(...)

Sending --> Sent: 传输层完成传输 

Sent --> Idle : suppressPositiveResponse
Sending --> SentAwaitResponse: !suppressPositiveResponse
SentAwaitResponse -> Idle: 响应收到了 ||\np2 超时
SentAwaitResponse --> ProcessResponse : ISOTP_RECEIVE_STATUS_FULL == link->receive_status
ProcessResponse --> Idle

[*] -> Idle
Idle -> Sending : _SendRequest()

@enduml

@startuml
title Request Lifecycle
alt normal
    alt positive response
        client --> client: Sending
        client -> server : *Any* Service
        client --> client: SentAwaitResponse: set p2
        alt 0x78 requestCorrectlyReceived-ResponsePending
            server -> client : 0x3F 0x78 
            client -->server : txLink  idle
            client --> client: SentAwaitResponse: set p2star
        end
        server -> client : Positive Service Response
        client --> client: Idle 
    else negative response
        server -> client !! : Negative Service Response
        client --> client: Idle: RequestErrorNegativeResponse
    else SID mismatch
        server -> client !! : Mismatched Service Response
        client --> client: Idle: RequestErrorResponseSIDMismatch
    end
else unexpected response
    server -> client !! : Unexpected Response
    client --> client: Idle: RequestErrorUnsolicitedResponse
end
@enduml

@startuml
' !pragma useVerticalIf on
title 客户端请求流程
start

:clientSendRequest();
if (验证参数) then (对)
:ok;
else (不对)
:foo;
detach
endif

:clearRequestContext();
if (等待UDS访问) then (访问接收了,进入UDS会话)
else (时间超过<b>20ms)
@enduml

服务器 0x78 requestCorrectlyReceived-ResponsePending

@startuml
client -> server : *Any* Service
server -> userServiceHandler: handler(args)
note right: Doing this will take a long time\nso I return 0x78
userServiceHandler -> server: 0x78
server -> client : 0x3F 0x78 
client -->server : txLink  idle
server -> userServiceHandler: handler(args)
note right: actually call the long-running service
... p2* > t > p2 ... 
userServiceHandler -> server : Service Response
server -> client : Service Response
@enduml

@startuml
' !pragma useVerticalIf on
title 0x78流程(写flash)
start

:BufferedWriterWrite(BufferedWriter *self, const uint8_t *ibuf, uint32_t size, bool RCRRP);

if (RCRRP) then (true)
:write to flash;
else (false)
endif
if (iBufIdx == size) then (true)
    :write to pageBuffer;
    :iBufIdx = 0;
    :return kBufferedWriterWritePending;
    :0x78 RCRRP;
    detach;
else (false)
    :memmove(pageBuffer + pageBufIdx, iBuf + iBufIdx, size - iBufIdx);
    :write to pageBuffer;
    :iBufIdx += size;
    :0x01 PositiveResponse;
    :0x78 RCRRP;
    detach
endif

@enduml